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<title>OpenCV: cv::stereo::StereoBinarySGBM Class Reference</title>
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<li class="navelem"><a class="el" href="../../d2/d75/namespacecv.html">cv</a></li><li class="navelem"><a class="el" href="../../d2/d7f/namespacecv_1_1stereo.html">stereo</a></li><li class="navelem"><a class="el" href="../../d1/d9f/classcv_1_1stereo_1_1StereoBinarySGBM.html">StereoBinarySGBM</a></li>  </ul>
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<a href="#pub-types">Public Types</a> &#124;
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<div class="title">cv::stereo::StereoBinarySGBM Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span><div class="ingroups"><a class="el" href="../../dd/d86/group__stereo.html">Stereo Correspondance Algorithms</a></div></div>  </div>
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<p>The class implements the modified H. Hirschmuller algorithm <a class="el" href="../../d0/de3/citelist.html#CITEREF_HH08">[112]</a> that differs from the original one as follows:  
 <a href="../../d1/d9f/classcv_1_1stereo_1_1StereoBinarySGBM.html#details">More...</a></p>

<p><code>#include &lt;opencv2/stereo.hpp&gt;</code></p>
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Inheritance diagram for cv::stereo::StereoBinarySGBM:</div>
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  <img src="../../d1/d9f/classcv_1_1stereo_1_1StereoBinarySGBM.png" usemap="#cv::stereo::StereoBinarySGBM_map" alt=""/>
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<area href="../../d9/d07/classcv_1_1stereo_1_1StereoMatcher.html" title="Filters off small noise blobs (speckles) in the disparity map. " alt="cv::stereo::StereoMatcher" shape="rect" coords="0,56,183,80"/>
<area href="../../d3/d46/classcv_1_1Algorithm.html" title="This is a base class for all more or less complex algorithms in OpenCV. " alt="cv::Algorithm" shape="rect" coords="0,0,183,24"/>
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<table class="memberdecls">
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Public Types</h2></td></tr>
<tr class="memitem:aca89582d67cec61f34a568dce204a464"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom">{ <br />
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<tr class="inherit_header pub_methods_classcv_1_1stereo_1_1StereoMatcher"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcv_1_1stereo_1_1StereoMatcher')"><img src="../../closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="../../d9/d07/classcv_1_1stereo_1_1StereoMatcher.html">cv::stereo::StereoMatcher</a></td></tr>
<tr class="memitem:ac2abae8a2b57dff2bcfcb1077f1235c4 inherit pub_methods_classcv_1_1stereo_1_1StereoMatcher"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d07/classcv_1_1stereo_1_1StereoMatcher.html#ac2abae8a2b57dff2bcfcb1077f1235c4">compute</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> left, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> right, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> disparity)=0</td></tr>
<tr class="memdesc:ac2abae8a2b57dff2bcfcb1077f1235c4 inherit pub_methods_classcv_1_1stereo_1_1StereoMatcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes disparity map for the specified stereo pair.  <a href="../../d9/d07/classcv_1_1stereo_1_1StereoMatcher.html#ac2abae8a2b57dff2bcfcb1077f1235c4">More...</a><br /></td></tr>
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<tr class="separator:af9ceb4ce7eedf8b1b2cf566d5f86aa31 inherit pub_methods_classcv_1_1stereo_1_1StereoMatcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a707e0c896babb41900af5fbf25465cf9 inherit pub_methods_classcv_1_1stereo_1_1StereoMatcher"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d07/classcv_1_1stereo_1_1StereoMatcher.html#a707e0c896babb41900af5fbf25465cf9">getSpeckleWindowSize</a> () const =0</td></tr>
<tr class="separator:a707e0c896babb41900af5fbf25465cf9 inherit pub_methods_classcv_1_1stereo_1_1StereoMatcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a494867781b98f903b4ca23c5e96e2f15 inherit pub_methods_classcv_1_1stereo_1_1StereoMatcher"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d07/classcv_1_1stereo_1_1StereoMatcher.html#a494867781b98f903b4ca23c5e96e2f15">setBlockSize</a> (int blockSize)=0</td></tr>
<tr class="separator:a494867781b98f903b4ca23c5e96e2f15 inherit pub_methods_classcv_1_1stereo_1_1StereoMatcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a09a0171a2ebbc5678c17e26981e53f0d inherit pub_methods_classcv_1_1stereo_1_1StereoMatcher"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d07/classcv_1_1stereo_1_1StereoMatcher.html#a09a0171a2ebbc5678c17e26981e53f0d">setDisp12MaxDiff</a> (int disp12MaxDiff)=0</td></tr>
<tr class="separator:a09a0171a2ebbc5678c17e26981e53f0d inherit pub_methods_classcv_1_1stereo_1_1StereoMatcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aae2525ed014e9a5a61485a1bc58622b3 inherit pub_methods_classcv_1_1stereo_1_1StereoMatcher"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d07/classcv_1_1stereo_1_1StereoMatcher.html#aae2525ed014e9a5a61485a1bc58622b3">setMinDisparity</a> (int minDisparity)=0</td></tr>
<tr class="separator:aae2525ed014e9a5a61485a1bc58622b3 inherit pub_methods_classcv_1_1stereo_1_1StereoMatcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af1b3153c4ad52991ffb45574f44fbf1a inherit pub_methods_classcv_1_1stereo_1_1StereoMatcher"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d07/classcv_1_1stereo_1_1StereoMatcher.html#af1b3153c4ad52991ffb45574f44fbf1a">setNumDisparities</a> (int numDisparities)=0</td></tr>
<tr class="separator:af1b3153c4ad52991ffb45574f44fbf1a inherit pub_methods_classcv_1_1stereo_1_1StereoMatcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9f2f1d87e19dfb3ca82fc9479281a9b3 inherit pub_methods_classcv_1_1stereo_1_1StereoMatcher"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d07/classcv_1_1stereo_1_1StereoMatcher.html#a9f2f1d87e19dfb3ca82fc9479281a9b3">setSpeckleRange</a> (int speckleRange)=0</td></tr>
<tr class="separator:a9f2f1d87e19dfb3ca82fc9479281a9b3 inherit pub_methods_classcv_1_1stereo_1_1StereoMatcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a792415b3f9a46dd49a81eb4874d2ced5 inherit pub_methods_classcv_1_1stereo_1_1StereoMatcher"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d07/classcv_1_1stereo_1_1StereoMatcher.html#a792415b3f9a46dd49a81eb4874d2ced5">setSpeckleWindowSize</a> (int speckleWindowSize)=0</td></tr>
<tr class="separator:a792415b3f9a46dd49a81eb4874d2ced5 inherit pub_methods_classcv_1_1stereo_1_1StereoMatcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classcv_1_1Algorithm"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcv_1_1Algorithm')"><img src="../../closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="../../d3/d46/classcv_1_1Algorithm.html">cv::Algorithm</a></td></tr>
<tr class="memitem:a827c8b2781ed17574805f373e6054ff1 inherit pub_methods_classcv_1_1Algorithm"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a827c8b2781ed17574805f373e6054ff1">Algorithm</a> ()</td></tr>
<tr class="separator:a827c8b2781ed17574805f373e6054ff1 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8ae826127fa0f1f8d10a24841bd376f8 inherit pub_methods_classcv_1_1Algorithm"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a8ae826127fa0f1f8d10a24841bd376f8">~Algorithm</a> ()</td></tr>
<tr class="separator:a8ae826127fa0f1f8d10a24841bd376f8 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aec9c965448e4dc851d7cacd3abd84cd1 inherit pub_methods_classcv_1_1Algorithm"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#aec9c965448e4dc851d7cacd3abd84cd1">clear</a> ()</td></tr>
<tr class="memdesc:aec9c965448e4dc851d7cacd3abd84cd1 inherit pub_methods_classcv_1_1Algorithm"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears the algorithm state.  <a href="../../d3/d46/classcv_1_1Algorithm.html#aec9c965448e4dc851d7cacd3abd84cd1">More...</a><br /></td></tr>
<tr class="separator:aec9c965448e4dc851d7cacd3abd84cd1 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab6a18f1825475643e94381697d413972 inherit pub_methods_classcv_1_1Algorithm"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#ab6a18f1825475643e94381697d413972">empty</a> () const</td></tr>
<tr class="memdesc:ab6a18f1825475643e94381697d413972 inherit pub_methods_classcv_1_1Algorithm"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns true if the <a class="el" href="../../d3/d46/classcv_1_1Algorithm.html" title="This is a base class for all more or less complex algorithms in OpenCV. ">Algorithm</a> is empty (e.g. in the very beginning or after unsuccessful read.  <a href="../../d3/d46/classcv_1_1Algorithm.html#ab6a18f1825475643e94381697d413972">More...</a><br /></td></tr>
<tr class="separator:ab6a18f1825475643e94381697d413972 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a286fc82744ccab3d248aca44524266a9 inherit pub_methods_classcv_1_1Algorithm"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a286fc82744ccab3d248aca44524266a9">getDefaultName</a> () const</td></tr>
<tr class="separator:a286fc82744ccab3d248aca44524266a9 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aef2ad3f4145bd6e8c3664eb1c4b5e1e6 inherit pub_methods_classcv_1_1Algorithm"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#aef2ad3f4145bd6e8c3664eb1c4b5e1e6">read</a> (const <a class="el" href="../../de/dd9/classcv_1_1FileNode.html">FileNode</a> &amp;fn)</td></tr>
<tr class="memdesc:aef2ad3f4145bd6e8c3664eb1c4b5e1e6 inherit pub_methods_classcv_1_1Algorithm"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reads algorithm parameters from a file storage.  <a href="../../d3/d46/classcv_1_1Algorithm.html#aef2ad3f4145bd6e8c3664eb1c4b5e1e6">More...</a><br /></td></tr>
<tr class="separator:aef2ad3f4145bd6e8c3664eb1c4b5e1e6 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0a880744bc4e3f45711444571df47d67 inherit pub_methods_classcv_1_1Algorithm"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a0a880744bc4e3f45711444571df47d67">save</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;filename) const</td></tr>
<tr class="separator:a0a880744bc4e3f45711444571df47d67 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1f8ad7b8add515077367fb9949a174d2 inherit pub_methods_classcv_1_1Algorithm"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a1f8ad7b8add515077367fb9949a174d2">write</a> (<a class="el" href="../../da/d56/classcv_1_1FileStorage.html">FileStorage</a> &amp;fs) const</td></tr>
<tr class="memdesc:a1f8ad7b8add515077367fb9949a174d2 inherit pub_methods_classcv_1_1Algorithm"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stores algorithm parameters in a file storage.  <a href="../../d3/d46/classcv_1_1Algorithm.html#a1f8ad7b8add515077367fb9949a174d2">More...</a><br /></td></tr>
<tr class="separator:a1f8ad7b8add515077367fb9949a174d2 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a763a62d1b03042eef7d7fc3ac6c87c79 inherit pub_methods_classcv_1_1Algorithm"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a763a62d1b03042eef7d7fc3ac6c87c79">write</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../da/d56/classcv_1_1FileStorage.html">FileStorage</a> &gt; &amp;fs, const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;name=<a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a>()) const</td></tr>
<tr class="memdesc:a763a62d1b03042eef7d7fc3ac6c87c79 inherit pub_methods_classcv_1_1Algorithm"><td class="mdescLeft">&#160;</td><td class="mdescRight">simplified API for language bindings This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.  <a href="../../d3/d46/classcv_1_1Algorithm.html#a763a62d1b03042eef7d7fc3ac6c87c79">More...</a><br /></td></tr>
<tr class="separator:a763a62d1b03042eef7d7fc3ac6c87c79 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:a756d8cdcc116945e6eea8b3a6103b92e"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d1/d9f/classcv_1_1stereo_1_1StereoBinarySGBM.html">cv::stereo::StereoBinarySGBM</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d9f/classcv_1_1stereo_1_1StereoBinarySGBM.html#a756d8cdcc116945e6eea8b3a6103b92e">create</a> (int minDisparity, int numDisparities, int blockSize, int P1=100, int P2=1000, int disp12MaxDiff=1, int preFilterCap=0, int uniquenessRatio=5, int speckleWindowSize=400, int speckleRange=200, int mode=<a class="el" href="../../d1/d9f/classcv_1_1stereo_1_1StereoBinarySGBM.html#aca89582d67cec61f34a568dce204a464ac1cec4aa27cb3cdeae78a41e2f9151f7">StereoBinarySGBM::MODE_SGBM</a>)</td></tr>
<tr class="memdesc:a756d8cdcc116945e6eea8b3a6103b92e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates <a class="el" href="../../d2/d85/classcv_1_1StereoSGBM.html" title="The class implements the modified H. Hirschmuller algorithm  that differs from the original one as fo...">StereoSGBM</a> object.  <a href="#a756d8cdcc116945e6eea8b3a6103b92e">More...</a><br /></td></tr>
<tr class="separator:a756d8cdcc116945e6eea8b3a6103b92e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_static_methods_classcv_1_1Algorithm"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classcv_1_1Algorithm')"><img src="../../closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="../../d3/d46/classcv_1_1Algorithm.html">cv::Algorithm</a></td></tr>
<tr class="memitem:a623841c33b58ea9c4847da04607e067b inherit pub_static_methods_classcv_1_1Algorithm"><td class="memTemplParams" colspan="2">template&lt;typename _Tp &gt; </td></tr>
<tr class="memitem:a623841c33b58ea9c4847da04607e067b inherit pub_static_methods_classcv_1_1Algorithm"><td class="memTemplItemLeft" align="right" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; _Tp &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a623841c33b58ea9c4847da04607e067b">load</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;filename, const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;objname=<a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a>())</td></tr>
<tr class="memdesc:a623841c33b58ea9c4847da04607e067b inherit pub_static_methods_classcv_1_1Algorithm"><td class="mdescLeft">&#160;</td><td class="mdescRight">Loads algorithm from the file.  <a href="../../d3/d46/classcv_1_1Algorithm.html#a623841c33b58ea9c4847da04607e067b">More...</a><br /></td></tr>
<tr class="separator:a623841c33b58ea9c4847da04607e067b inherit pub_static_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3ba305a10d02479c13cf7d169c321547 inherit pub_static_methods_classcv_1_1Algorithm"><td class="memTemplParams" colspan="2">template&lt;typename _Tp &gt; </td></tr>
<tr class="memitem:a3ba305a10d02479c13cf7d169c321547 inherit pub_static_methods_classcv_1_1Algorithm"><td class="memTemplItemLeft" align="right" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; _Tp &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a3ba305a10d02479c13cf7d169c321547">loadFromString</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;strModel, const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;objname=<a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a>())</td></tr>
<tr class="memdesc:a3ba305a10d02479c13cf7d169c321547 inherit pub_static_methods_classcv_1_1Algorithm"><td class="mdescLeft">&#160;</td><td class="mdescRight">Loads algorithm from a String.  <a href="../../d3/d46/classcv_1_1Algorithm.html#a3ba305a10d02479c13cf7d169c321547">More...</a><br /></td></tr>
<tr class="separator:a3ba305a10d02479c13cf7d169c321547 inherit pub_static_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad8c591bacb34c485f5b7a250c314fc53 inherit pub_static_methods_classcv_1_1Algorithm"><td class="memTemplParams" colspan="2">template&lt;typename _Tp &gt; </td></tr>
<tr class="memitem:ad8c591bacb34c485f5b7a250c314fc53 inherit pub_static_methods_classcv_1_1Algorithm"><td class="memTemplItemLeft" align="right" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; _Tp &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#ad8c591bacb34c485f5b7a250c314fc53">read</a> (const <a class="el" href="../../de/dd9/classcv_1_1FileNode.html">FileNode</a> &amp;fn)</td></tr>
<tr class="memdesc:ad8c591bacb34c485f5b7a250c314fc53 inherit pub_static_methods_classcv_1_1Algorithm"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reads algorithm from the file node.  <a href="../../d3/d46/classcv_1_1Algorithm.html#ad8c591bacb34c485f5b7a250c314fc53">More...</a><br /></td></tr>
<tr class="separator:ad8c591bacb34c485f5b7a250c314fc53 inherit pub_static_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pro_methods_classcv_1_1Algorithm"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcv_1_1Algorithm')"><img src="../../closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="../../d3/d46/classcv_1_1Algorithm.html">cv::Algorithm</a></td></tr>
<tr class="memitem:a68eeca71617474ad3d4561786f0289d2 inherit pro_methods_classcv_1_1Algorithm"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a68eeca71617474ad3d4561786f0289d2">writeFormat</a> (<a class="el" href="../../da/d56/classcv_1_1FileStorage.html">FileStorage</a> &amp;fs) const</td></tr>
<tr class="separator:a68eeca71617474ad3d4561786f0289d2 inherit pro_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>The class implements the modified H. Hirschmuller algorithm <a class="el" href="../../d0/de3/citelist.html#CITEREF_HH08">[112]</a> that differs from the original one as follows: </p>
<ul>
<li>By default, the algorithm is single-pass, which means that you consider only 5 directions instead of 8. Set mode=<a class="el" href="../../d2/d85/classcv_1_1StereoSGBM.html#a74120f5b7739495309c57f2da1c3e8cca0f746667febe92e1189e924c40752660">StereoSGBM::MODE_HH</a> in createStereoSGBM to run the full variant of the algorithm but beware that it may consume a lot of memory.</li>
<li>The algorithm matches blocks, not individual pixels. Though, setting blockSize=1 reduces the blocks to single pixels.</li>
<li>Mutual information cost function is not implemented. Instead, a simpler Birchfield-Tomasi sub-pixel metric from <a class="el" href="../../d0/de3/citelist.html#CITEREF_BT98">[23]</a> is used. Though, the color images are supported as well.</li>
<li>Some pre- and post- processing steps from K. Konolige algorithm <a class="el" href="../../d9/dba/classcv_1_1StereoBM.html" title="Class for computing stereo correspondence using the block matching algorithm, introduced and contribu...">StereoBM</a> are included, for example: pre-filtering (<a class="el" href="../../d9/dba/classcv_1_1StereoBM.html#a47d98ddb53c39777a8c75ed3425bd66aabf381e03e290b2b94541738193a6abd6">StereoBM::PREFILTER_XSOBEL</a> type) and post-filtering (uniqueness check, quadratic interpolation and speckle filtering).</li>
</ul>
<dl class="section note"><dt>Note</dt><dd><ul>
<li>(Python) An example illustrating the use of the <a class="el" href="../../d2/d85/classcv_1_1StereoSGBM.html" title="The class implements the modified H. Hirschmuller algorithm  that differs from the original one as fo...">StereoSGBM</a> matching algorithm can be found at opencv_source_code/samples/python2/stereo_match.py </li>
</ul>
</dd></dl>
</div><h2 class="groupheader">Member Enumeration Documentation</h2>
<a id="aca89582d67cec61f34a568dce204a464"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aca89582d67cec61f34a568dce204a464">&#9670;&nbsp;</a></span>anonymous enum</h2>

<div class="memitem">
<div class="memproto">
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          <td class="memname">anonymous enum</td>
        </tr>
      </table>
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="aca89582d67cec61f34a568dce204a464ac1cec4aa27cb3cdeae78a41e2f9151f7"></a>MODE_SGBM&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="aca89582d67cec61f34a568dce204a464a63b8637d8c69a830927c267b3b4ce5a7"></a>MODE_HH&#160;</td><td class="fielddoc"></td></tr>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a756d8cdcc116945e6eea8b3a6103b92e">&#9670;&nbsp;</a></span>create()</h2>

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          <td class="memname">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt;<a class="el" href="../../d1/d9f/classcv_1_1stereo_1_1StereoBinarySGBM.html">cv::stereo::StereoBinarySGBM</a>&gt; cv::stereo::StereoBinarySGBM::create </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>minDisparity</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>numDisparities</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>blockSize</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>P1</em> = <code>100</code>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>P2</em> = <code>1000</code>, </td>
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          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>disp12MaxDiff</em> = <code>1</code>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>preFilterCap</em> = <code>0</code>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>uniquenessRatio</em> = <code>5</code>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>speckleWindowSize</em> = <code>400</code>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>speckleRange</em> = <code>200</code>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>mode</em> = <code><a class="el" href="../../d1/d9f/classcv_1_1stereo_1_1StereoBinarySGBM.html#aca89582d67cec61f34a568dce204a464ac1cec4aa27cb3cdeae78a41e2f9151f7">StereoBinarySGBM::MODE_SGBM</a></code>&#160;</td>
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          <td>)</td>
          <td></td><td></td>
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<p>Creates <a class="el" href="../../d2/d85/classcv_1_1StereoSGBM.html" title="The class implements the modified H. Hirschmuller algorithm  that differs from the original one as fo...">StereoSGBM</a> object. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">minDisparity</td><td>Minimum possible disparity value. Normally, it is zero but sometimes rectification algorithms can shift images, so this parameter needs to be adjusted accordingly. </td></tr>
    <tr><td class="paramname">numDisparities</td><td>Maximum disparity minus minimum disparity. The value is always greater than zero. In the current implementation, this parameter must be divisible by 16. </td></tr>
    <tr><td class="paramname">blockSize</td><td>Matched block size. It must be an odd number &gt;=1 . Normally, it should be somewhere in the 3..11 range. </td></tr>
    <tr><td class="paramname">P1</td><td>The first parameter controlling the disparity smoothness.This parameter is used for the case of slanted surfaces (not fronto parallel). </td></tr>
    <tr><td class="paramname">P2</td><td>The second parameter controlling the disparity smoothness.This parameter is used for "solving" the depth discontinuities problem. The larger the values are, the smoother the disparity is. P1 is the penalty on the disparity change by plus or minus 1 between neighbor pixels. P2 is the penalty on the disparity change by more than 1 between neighbor pixels. The algorithm requires P2 &gt; P1 . See stereo_match.cpp sample where some reasonably good P1 and P2 values are shown (like 8*number_of_image_channels*SADWindowSize*SADWindowSize and 32*number_of_image_channels*SADWindowSize*SADWindowSize , respectively). </td></tr>
    <tr><td class="paramname">disp12MaxDiff</td><td>Maximum allowed difference (in integer pixel units) in the left-right disparity check. Set it to a non-positive value to disable the check. </td></tr>
    <tr><td class="paramname">preFilterCap</td><td>Truncation value for the prefiltered image pixels. The algorithm first computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval. The result values are passed to the Birchfield-Tomasi pixel cost function. </td></tr>
    <tr><td class="paramname">uniquenessRatio</td><td>Margin in percentage by which the best (minimum) computed cost function value should "win" the second best value to consider the found match correct. Normally, a value within the 5-15 range is good enough. </td></tr>
    <tr><td class="paramname">speckleWindowSize</td><td>Maximum size of smooth disparity regions to consider their noise speckles and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the 50-200 range. </td></tr>
    <tr><td class="paramname">speckleRange</td><td>Maximum disparity variation within each connected component. If you do speckle filtering, set the parameter to a positive value, it will be implicitly multiplied by 16. Normally, 1 or 2 is good enough. </td></tr>
    <tr><td class="paramname">mode</td><td>Set it to <a class="el" href="../../d2/d85/classcv_1_1StereoSGBM.html#a74120f5b7739495309c57f2da1c3e8cca0f746667febe92e1189e924c40752660">StereoSGBM::MODE_HH</a> to run the full-scale two-pass dynamic programming algorithm. It will consume O(W*H*numDisparities) bytes, which is large for 640x480 stereo and huge for HD-size pictures. By default, it is set to false .</td></tr>
  </table>
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<p>The first constructor initializes <a class="el" href="../../d2/d85/classcv_1_1StereoSGBM.html" title="The class implements the modified H. Hirschmuller algorithm  that differs from the original one as fo...">StereoSGBM</a> with all the default parameters. So, you only have to set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter to a custom value. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aa062446adbda3e54fbde6d6235df054c">&#9670;&nbsp;</a></span>getBinaryKernelType()</h2>

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<hr/>The documentation for this class was generated from the following file:<ul>
<li>opencv2/<a class="el" href="../../d4/d42/contrib_2modules_2stereo_2include_2opencv2_2stereo_8hpp.html">stereo.hpp</a></li>
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